Multi-Sensor Image Fusion Based on Moment Calculation

An image fusion method based on salient features is proposed in this paper. In this work, we have concentrated on salient features of the image for fusion in order to preserve all relevant information contained in the input images and tried to enhance the contrast in fused image and also suppressed noise to a maximum extent. In our system, first we have applied a mask on two input images in order to conserve the high frequency information along with some low frequency information and stifle noise to a maximum extent. Thereafter, for identification of salience features from sources images, a local moment is computed in the neighborhood of a coefficient. Finally, a decision map is generated based on local moment in order to get the fused image. To verify our proposed algorithm, we have tested it on 120 sensor image pairs collected from Manchester University UK database. The experimental results show that the proposed method can provide superior fused image in terms of several quantitative fusion evaluation index.Comment: 5 pages, International Conferenc

Robust Distributed Fusion with Labeled Random Finite Sets

This paper considers the problem of the distributed fusion of multi-object posteriors in the labeled random finite set filtering framework, using Generalized Covariance Intersection (GCI) method. Our analysis shows that GCI fusion with labeled multi-object densities strongly relies on label consistencies between local multi-object posteriors at different sensor nodes, and hence suffers from a severe performance degradation when perfect label consistencies are violated. Moreover, we mathematically analyze this phenomenon from the perspective of Principle of Minimum Discrimination Information and the so called yes-object probability. Inspired by the analysis, we propose a novel and general solution for the distributed fusion with labeled multi-object densities that is robust to label inconsistencies between sensors. Specifically, the labeled multi-object posteriors are firstly marginalized to their unlabeled posteriors which are then fused using GCI method. We also introduce a principled method to construct the labeled fused density and produce tracks formally. Based on the developed theoretical framework, we present tractable algorithms for the family of generalized labeled multi-Bernoulli (GLMB) filters including $\delta$-GLMB, marginalized $\delta$-GLMB and labeled multi-Bernoulli filters. The robustness and efficiency of the proposed distributed fusion algorithm are demonstrated in challenging tracking scenarios via numerical experiments.Comment: 17pages, 23 figure

Improved data association and occlusion handling for vision-based people tracking by mobile robots

This paper presents an approach for tracking multiple persons using a combination of colour and thermal vision sensors on a mobile robot. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is then incorporated into the tracker

Data association and occlusion handling for vision-based people tracking by mobile robots

This paper presents an approach for tracking multiple persons on a mobile robot with a combination of colour and thermal vision sensors, using several new techniques. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is incorporated into the tracker. The paper presents a comprehensive, quantitative evaluation of the whole system and its different components using several real world data sets

Radar and RGB-depth sensors for fall detection: a review

This paper reviews recent works in the literature on the use of systems based on radar and RGB-Depth (RGB-D) sensors for fall detection, and discusses outstanding research challenges and trends related to this research field. Systems to detect reliably fall events and promptly alert carers and first responders have gained significant interest in the past few years in order to address the societal issue of an increasing number of elderly people living alone, with the associated risk of them falling and the consequences in terms of health treatments, reduced well-being, and costs. The interest in radar and RGB-D sensors is related to their capability to enable contactless and non-intrusive monitoring, which is an advantage for practical deployment and users’ acceptance and compliance, compared with other sensor technologies, such as video-cameras, or wearables. Furthermore, the possibility of combining and fusing information from The heterogeneous types of sensors is expected to improve the overall performance of practical fall detection systems. Researchers from different fields can benefit from multidisciplinary knowledge and awareness of the latest developments in radar and RGB-D sensors that this paper is discussing

Comparison of Five Spatio-Temporal Satellite Image Fusion Models over Landscapes with Various Spatial Heterogeneity and Temporal Variation

In recent years, many spatial and temporal satellite image fusion (STIF) methods have been developed to solve the problems of trade-off between spatial and temporal resolution of satellite sensors. This study, for the first time, conducted both scene-level and local-level comparison of five state-of-art STIF methods from four categories over landscapes with various spatial heterogeneity and temporal variation. The five STIF methods include the spatial and temporal adaptive reflectance fusion model (STARFM) and Fit-FC model from the weight function-based category, an unmixing-based data fusion (UBDF) method from the unmixing-based category, the one-pair learning method from the learning-based category, and the Flexible Spatiotemporal DAta Fusion (FSDAF) method from hybrid category. The relationship between the performances of the STIF methods and scene-level and local-level landscape heterogeneity index (LHI) and temporal variation index (TVI) were analyzed. Our results showed that (1) the FSDAF model was most robust regardless of variations in LHI and TVI at both scene level and local level, while it was less computationally efficient than the other models except for one-pair learning; (2) Fit-FC had the highest computing efficiency. It was accurate in predicting reflectance but less accurate than FSDAF and one-pair learning in capturing image structures; (3) One-pair learning had advantages in prediction of large-area land cover change with the capability of preserving image structures. However, it was the least computational efficient model; (4) STARFM was good at predicting phenological change, while it was not suitable for applications of land cover type change; (5) UBDF is not recommended for cases with strong temporal changes or abrupt changes. These findings could provide guidelines for users to select appropriate STIF method for their own applications